norlab-ulaval · RedLeader962 · Jan 18, 2024 · Jan 8, 2024 · Jan 8, 2024 · Jan 8, 2024
@@ -2,6 +2,7 @@
 
 ### Summary:
 
+
 ### Changes and type of changes (quick overview):
 
 -
@@ -19,7 +20,7 @@
 - [ ] I have commented hard-to-understand code
 - [ ] I have added tests that prove my fix is effective or that my feature works
 - [ ] All tests pass locally with my changes 
-      (Check [README.md #Contributing](https://github.com/norlab-ulaval/libpointmatcher/tree/develop#contributing)
+      (Check [contributing_instructions.md](https://github.com/norlab-ulaval/libnabo/tree/develop/doc/contributing/contributing_instructions.md)
       for local testing procedure using _libpointmatcher-build-system_)
 
 ### PR creation related
@@ -33,22 +34,8 @@
 
 - [ ] I have included a quick summary of the changes
 - [ ] I have indicated the related issue's id with `# <issue-id>` if changes are of type `fix`
-- [ ] I have included a high-level list of changes and their corresponding type
-    - Types: `feat` `fix` `docs` `style` `refactor` `perf` `test` `build` `ci` `chore` `revert`
-    - Breaking changes: `<type>!`
-    - Reference:
-      see [commit_msg_reference.md](https://github.com/norlab-ulaval/libpointmatcher/blob/develop/commit_msg_reference.md)
-      in the repository root for details
+- [ ] I have included a high-level list of changes and their corresponding types
+      (See [commit_msg_reference.md](https://github.com/norlab-ulaval/libnabo/tree/develop/doc/contributing/commit_msg_reference.md)
+      for details)
 
 ---
-
-## Note for repository admins
-
-### Release PR related
-
-- Only repository admins have the privilege to `push/merge` on the default branch (ie: `master`)
-  and the `release` branch.
-- Keep PR in `draft` mode until all the release reviewers are ready to push the release.
-- Once a PR from `release` -> `master` branch is created (not in draft mode),
-    - it triggers the _build-system_ test
-    - (in-progress) and it triggers the _semantic release automation_
@@ -177,7 +177,7 @@ jobs:
         if: ${{ steps.cache-boost.outputs.cache-hit != 'true' &&  runner.os == 'Linux' }}
         working-directory: ${{ env.BOOST_SRC_DIR }}
         run: |
-          wget --no-verbose https://boostorg.jfrog.io/artifactory/main/release/${{ env.BOOST_VERSION }}/source/${{ env.BOOST_ARCHIVE_NAME }}
+          wget --no-verbose https://archives.boost.io/release/${{ env.BOOST_VERSION }}/source/${{ env.BOOST_ARCHIVE_NAME }}
           7z -y x ${{ env.BOOST_ARCHIVE_NAME }}
           rm ${{ env.BOOST_ARCHIVE_NAME }}
 
@@ -192,7 +192,7 @@ jobs:
         if: steps.cache-libnabo.outputs.cache-hit != 'true'
         working-directory: ${{ env.LIBNABO_SRC_DIR }}
         run: |
-          git clone -b ${{ env.LIBNABO_VERSION }} --single-branch https://github.com/ethz-asl/libnabo.git
+          git clone -b ${{ env.LIBNABO_VERSION }} --single-branch https://github.com/norlab-ulaval/libnabo.git
 
       - name: Install libnabo ${{ env.LIBNABO_VERSION }} on Windows
         if: ${{ steps.cache-libnabo.outputs.cache-hit != 'true' && runner.os == 'Windows' }}
@@ -319,4 +319,3 @@ jobs:
           prerelease: true
           allowUpdates: true
           generateReleaseNotes: true
-
@@ -2,6 +2,25 @@
 
 ![banner](doc/images/banner_light.jpeg)
 
+[//]: # ( ==== Description =========================================== )
+**_libpointmatcher_ is a modular library implementing the Iterative Closest Point (ICP) algorithm<br>
+for aligning point clouds. It has applications in robotics and computer vision.**
+<br>
+The library is written in C++ for effeciency
+with [bindings in Python](doc/index.md#python-).
+<br>
+<br>
+
+[//]: # (====GitHub badges========================================================================)
+
+<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/norlab-ulaval/libpointmatcher">
+<img alt="GitHub forks" src="https://img.shields.io/github/forks/norlab-ulaval/libpointmatcher">
+<img alt="GitHub License" src="https://img.shields.io/github/license/norlab-ulaval/libpointmatcher">
+<img alt="GitHub release (with filter)" src="https://img.shields.io/github/v/release/norlab-ulaval/libpointmatcher">
+<img src="https://img.shields.io/static/v1?label=JetBrains TeamCity&message=CI/CD&color=green?style=plastic&logo=teamcity" />
+<br>
+<br>
+
 [//]: # (====Awesome badges=======================================================================)
 
 [![Mentioned in Awesome LIDAR](https://awesome.re/mentioned-badge.svg)](https://github.com/szenergy/awesome-lidar#basic-matching-algorithms)
@@ -19,35 +38,27 @@
 <a href="http://jslee02.github.io/awesome-robotics-libraries/#3d-mapping">Robotics Libraries</a>
 </sup>
 
-
-[//]: # (====GitHub badges========================================================================)
-
-<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/norlab-ulaval/libpointmatcher">
-<img alt="GitHub forks" src="https://img.shields.io/github/forks/norlab-ulaval/libpointmatcher">
-<img alt="GitHub License" src="https://img.shields.io/github/license/norlab-ulaval/libpointmatcher">
-<img alt="GitHub release (with filter)" src="https://img.shields.io/github/v/release/norlab-ulaval/libpointmatcher">
-<img src="https://img.shields.io/static/v1?label=JetBrains TeamCity&message=CI/CD&color=green?style=plastic&logo=teamcity" />
-<br>
-<br>
 </div>
 
 
+
 [//]: # (====Supported OS and aarch===============================================================)
 
-`libpointmatcher` is tested on our build system under the following architecture and OS:
-- x86 and arm64/v8
+### Supported OS And Architecture
+_libpointmatcher_ is tested on our build system under the following architecture and OS:
 - Ubuntu bionic (18.04) and focal (20.04)  
+- x86 and arm64/v8
 
 Note: 
 - support for Ubuntu jammy (22.04) comming soon
-- `libpointmatcher` reportedly works on MacOs OsX (latest) and Windows (latest)
+- _libpointmatcher_ reportedly works on MacOs OsX (latest) and Windows (latest)
 
 
 ---
 
 [//]: # (====Release note=========================================================================)
 
-### ★ Version `1.4.0` release note (important)
+### ★ Version `1.4.0` Release Note
 This release of _libpointmatcher_ introduces the integration of [norlab-build-system (NBS)](https://github.com/norlab-ulaval/norlab-build-system) as a _git submodule_ for codebase development and testing.
 
 Execute the following to clone the repository with its submodule:
@@ -59,11 +70,14 @@ If _libpointmatcher_ was previously cloned, execute the following to fetch its n
 git submodule update --remote --recursive --init
 ```
 
+### ★ Contributing Instructions
+See [contributing_instructions.md](doc/contributing/contributing_instructions.md)
+for instructions related to bug reporting, code contribution and for setting up the `libpointmatcher-build-system`
+on your workstation to speed up your local development workflow.
+
+
 [//]: # (====Body=================================================================================)
 # Documentation and Tutorials
-
-libpointmatcher is a modular library implementing the Iterative Closest Point (ICP) algorithm for aligning point clouds. It has applications in robotics and computer vision.
-The library is written in C++ for effeciency with [bindings in Python](https://github.com/norlab-ulaval/libpointmatcher/blob/master/doc/index.md#python-).
 
 **Quick link for the tutorial pages: [Tutorials](doc/index.md)** (also available on [readthedocs.org](http://libpointmatcher.readthedocs.org/) but might not be up-to-date).
 
@@ -93,9 +107,41 @@ and was compiled on:
   * Mac OS X ([see how](/doc/CompilationMac.md))
   * Windows ([see how](/doc/CompilationWindows.md) - partially supported)
 
+### Docker images
+
+Run the following commands to pull and run libnabo in a docker container
+
+```shell
+docker pull norlabulaval/libpointmatcher:latest-ubuntu-focal
+
+docker run -it --rm norlabulaval/libpointmatcher:latest-ubuntu-focal
+```
+
+See
+available [libpointmatcher image tags](https://hub.docker.com/repository/docker/norlabulaval/libpointmatcher/)
+on dockerhub.
+
+To install docker related dependencies on ubuntu, execute the following
+```shell
+cd ./build_system/lpm_utility_script
+
+# Execute docker tools install script i.e. docker daemon, docker compose, docker buildx
+bash lpm_install_docker_tools.bash
+```
+
+
 ### Compilation & Installation 
 
 For beginner users unfamiliar with compiling and installing a library in Linux, go [here](doc/CompilationUbuntu.md) for detailed instructions on compiling libpointmatcher from the source code.  
+
+For conveniences, you can use the provided installer script for ubuntu
+```shell
+bash libpointmatcher_dependencies_installer.bash
+
+# Use the --help flag to see the list of optional flag
+bash libpointmatcher_installer.bash [<optional flag>]
+```
+
 If you are comfortable with Linux and CMake and have already installed the prerequisites above, the following commands should install libpointmatcher on your system.
 
 ```bash
@@ -105,6 +151,7 @@ make
 sudo make install
 ```
 
+
 ### Testing
 
 Libpointmatcher ships with a version of the Google testing framework [GTest](https://github.com/google/googletest).  Unit tests are located in the `utest/` directory and are compiled with libpointmatcher (CMake variable `BUILD_TESTS` must be set to `TRUE` before compiling).  To run the tests and make sure that your compiled version is working correctly, run the test executable in your build directory:
@@ -133,101 +180,6 @@ tutorial [Importing and Exporting Point Clouds](doc/ImportExport.md). Example ex
 those file formats from the command line can be found in the `/examples` directory and are
 described [here](doc/ICPIntro.md) in more detail.
 
----
-
-# Contributing
-
-## Bug reporting
-
-Please use our [github's issue tracker](http://github.com/ethz-asl/libpointmatcher/issues) to report bugs. If you are running the library on Ubuntu, copy-paste the output of the script [listVersionsUbuntu.sh](https://github.com/norlab-ulaval/libpointmatcher/blob/master/utest/listVersionsUbuntu.sh) to simplify the search of an answer.
-
-## Codebase development
-
-Libpointmatcher codebase now integrate [norlab-build-system (NBS)](https://github.com/norlab-ulaval/norlab-build-system) and [norlab-shell-script-tools (N2ST)](https://github.com/norlab-ulaval/norlab-shell-script-tools). 
-`NBS` is a build-infrastructure-agnostic build system custom-made to meet our needs in robotic software engineering at NorLab and `N2ST` is a library of shell script functions as well as a shell testing tools leveraging _**bats-core**_ and _**docker**_ .
-`N2ST` purpose is to speed up shell script development and improve reliability.
-
-`NBS` is deployed on our [TeamCity](https://www.jetbrains.com/teamcity/) continuous integration/deployment server and oversees protected branches of the [libpointmatcher](https://github.com/norlab-ulaval/libpointmatcher) GitHub repository:
-
-- The `develop` branch can only be merged through a pull-request from any `<feature>` branches. Any contributor can submit a pull request to the `develop` branch;
-- the `release` branch is a revision and preparation branch where we can freeze the codebase in a given state without stalling to `develop` branch progression;
-- The `master` branch can only be merged through a pull-request from the `release` branch. Only repository admin can submit a PR to the `master` branch.
-
-In any cases, submitting a pull request to `develop` or `master` will trigger a build/test configuration on our build system and the pull request will be granted if the build/test run succeed.
-
-**Current build matrix:**
-`[latest] x [x86, arm64] x [ubuntu] x [bionic, focal] x [Release, RelWithDebInfo, MinSizeRel]`
-
-### Development workflow
-
-To speed up the development process, you can run the build system localy on your workstation and have access to stacktrace and build log. 
-It support multi-OS and multi-architecture through docker container.
-
-#### Install _libpointmatcher-build-system_ dependencies
-```shell
-cd <path/to/libpointmatcher>
-
-# If libpointmatcher is already cloned, fetch the NBS and N2ST submodule 
-git submodule update --remote --recursive --init
-
-cd ./build_system/lpm_utility_script
-
-# Execute docker tools install script i.e. docker daemon, docker compose, docker buildx 
-bash lpm_install_docker_tools.bash
-
-# Configure a multi-architecture docker builder
-bash lpm_create_multiarch_docker_builder.bash
-```
-
-#### libpointmatcher development › to execute build/test step locally
-```shell
-cd <path/to/libpointmatcher>/build_system
-
-# Run the build matrix as specified in ".env.build_matrix.libpointmatcher" 
-#   on native architecture using "ci_PR" service 
-bash lpm_crawl_libpointmatcher_build_matrix.bash --fail-fast -- build ci_PR
-
-# Run a specific case using build flags with multi-architecture 
-# virtualization using "ci_PR_amd64" and "ci_PR_arm64v8" services 
-bash lpm_crawl_libpointmatcher_build_matrix.bash \
-            --repository-version-build-matrix-override latest \
-            --os-name-build-matrix-override ubuntu \
-            --cmake-build-type-build-matrix-override RelWithDebInfo \
-            --ubuntu-version-build-matrix-override focal \
-            --fail-fast \
-            -- build ci_PR_amd64 ci_PR_arm64v8
-
-# Read the help for details
-bash lpm_crawl_libpointmatcher_build_matrix.bash --help
-```
-Note: To assess the state of the codebase, even for cases that are known the break the build, 
-execute `lpm_crawl_libpointmatcher_build_matrix.bleeding.bash` with build matrix `.env.build_matrix.libpointmatcher.bleeding`.
-The stable build matrix used for release is `.env.build_matrix.libpointmatcher`.
-
-
-#### Build system development 
-```shell
-cd <path/to/libpointmatcher>/build_system/tests/
-
-# To execute docker dryrun and configuration tests
-bash run_all_docker_dryrun_and_config_tests.bash
-
-# To execute shell script tests
-bash run_bats_core_test_in_n2st.bash
-
-# To spin a container in interactive mode with the codebase cloned but not compiled  
-cd ./tests_docker_interactive/
-bash build_and_run_IamBuildSystemTester.bash bash
-```
-
-#### Build system notes: 
-- `lpm_crawl_dependencies_build_matrix.bash` execute the build matrix for the libpointmatcher dependencies. 
-   It's not required to build them locally as they are pre-build by our TeamCity server periodically push to dockerhub.
-   When executing `lpm_crawl_libpointmatcher_build_matrix.bash`, the `libpointmatcher-dependencies` docker images are pull and used as base image for the `libpointmatcher-[ci_PR_test|release]` images.
-- About `libpointmatcher/.github/workflow/` vs `libpointmatcher/build_system/` logic: Those are separate build logic.
-  `.github/workflow/` was community contributed and as the responsibilities of building python-binding and pushing packages. 
-  For this reason, it run a one-dimension build matrix: multiple python version, single OS version, single arch (x86) and
-  single compile flag which GitHub action computing resources can handle just fine.
 
 ---
 
@@ -301,7 +253,7 @@ libpointmatcher is released under a permissive BSD license. Enjoy!
 [CMake documentation]: https://cmake.org/cmake/help/v3.10/
 [git]: http://git-scm.com
 [Eigen]: http://eigen.tuxfamily.org
-[libnabo]: http://github.com/ethz-asl/libnabo
+[libnabo]: https://github.com/norlab-ulaval/libnabo
 [ROS]: http://www.ros.org/
 [Paraview]: http://www.paraview.org/
 [yaml-cpp]: https://github.com/jbeder/yaml-cpp

@@ -11,8 +11,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.dependencies.yaml
 # Libpointmatcher version
 #
 # 'latest' is the latest push to the libpointmatcher master branch
-#NBS_MATRIX_REPOSITORY_VERSIONS=( 'v1.3.1' 'latest' 'v2.0.test' )
-NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' )
+NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.0' 'latest'  )
 
 #
 # Libpointmatcher dependencies CMAKE_BUILD_TYPE

@@ -11,7 +11,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml
 # Libpointmatcher version
 #
 # 'latest' is the latest push to the libpointmatcher master branch
-#NBS_MATRIX_REPOSITORY_VERSIONS=( 'v1.3.1' 'latest' 'v2.0.test' )
+#NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.0' 'latest'  )
 NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' )
 
 #

@@ -11,7 +11,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml
 # Libpointmatcher version
 #
 # 'latest' is the latest push to the libpointmatcher master branch
-#NBS_MATRIX_REPOSITORY_VERSIONS=( 'v1.3.1' 'latest' 'v2.0.test' )
+#NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.0' 'latest'  )
 NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' )
 
 #

@@ -0,0 +1,38 @@
+#
+# Build matrix variables
+#
+
+#
+# The compose file on which the build matrix will be crawled
+#
+NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml
+
+#
+# Libpointmatcher version
+#
+# 'latest' is the latest push to the libpointmatcher master branch
+NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.0' 'latest'  )
+
+#
+# Libpointmatcher CMAKE_BUILD_TYPE
+#
+NBS_MATRIX_CMAKE_BUILD_TYPE=( 'Release' )
+
+#
+# LIBPOINTMATCHER supported OS
+#
+# ToDo: implement OsX support for arm64-Darwin (ref task NMO-213)
+#NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' 'l4t' 'osx' )
+NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
+
+#
+# ubuntu supported versions
+#
+# Ubuntu release: https://ubuntu.com/about/release-cycle
+#   bionic=18.04 focal=20.04 jammy=22.04
+NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' )
+#
+# iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
+#NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )
+NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( )
+
@@ -1 +1,2 @@
-See [README.md #Contributing](https://github.com/norlab-ulaval/libpointmatcher/tree/master#contributing) for instructions on how integrate the `libpointmatcher-build-system` to your local development workflow (on your workstation). 
+See [contributing_instructions.md](https://github.com/norlab-ulaval/libnabo/tree/develop/doc/contributing/contributing_instructions.md)
+for instructions related to bug reporting, code contribution and for setting up the `libpointmatcher-build-system` on your workstation to speed up your local development workflow.